execution.uuv.control

Class DepthController

java.lang.Object

execution.VehicleController

execution.uuv.control.UuvController

execution.uuv.control.DepthController

Direct Known Subclasses:

LQRDepthController, SlidingModeDepthController

public class DepthController
extends UuvController

File: DepthController.java Author(s): Duane Davis and David Gassier Date: 19 April 2004 Revised: 03 October 2006

Description: Controller for setting auv fore and aft plane and vertical thrusters in all control modes except open loop

Version:

$Id: DepthController.java 8025 2012-07-03 04:54:42Z brutzman $

Author:

Duane Davis and David Gassier

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	altitudeControl true if depth control is based on altitude above the bottom (as opposed to depth)
protected double	ballastCommand ballast command setting
protected double	bowPlaneCommand commanded bow plane setting
protected boolean	depthControlReset true if a new depth was specified this loop
protected double	GLIDER_DEPTH_MAXIMUM
protected double	GLIDER_DEPTH_MINIMUM GLIDER DEPTHCONTROL CONSTANTS
protected double	GLIDER_PITCH_MAXIMUM
protected double	GLIDER_PITCH_MINIMUM
protected boolean	openLoopDepth true if planes and/or vertical thrusters are being manually controlled
protected double	sternPlaneCommand commanded stern plane setting

Fields inherited from class execution.uuv.control.UuvController

alongTrackRange, bowLateralThrusterCommand, bowVerticalThrusterCommand, correctToTrack, crossTrackError, depthError, depthErrorIntegral, depthPidTime, MAXDEPTHERROR, offTrackAngleDegrees, openLoopHeading, pdOnlyTime, portPropellerCommand, psiCommand, psiError, rudderCommand, speedControlReset, speedError, stbdPropellerCommand, sternLateralThrusterCommand, sternVerticalThrusterCommand, thetaCommand, THRUSTCONVERSION, turningRpm, uuvExecution, zCommand

Constructor Summary

Constructors

Constructor and Description
DepthController(UuvExecution execution) Creates a new instance of DepthController

Method Summary

Methods

Modifier and Type	Method and Description
protected void	computeBallast()
void	computeControls() Computes plane and vertical thruster control settings for depth control
protected void	computePlanes() Computes settings for bow and stern planes
double	getBallastCommand()
double	getBowPlaneCommand()
double	getBowVerticalThrusterCommand()
void	getGpsFix() Requires the vehicle to surface and obtain a GPS fix Surfaces vehicle for 30 seconds plus a 3 seconds per meter surface rate
double	getSternPlaneCommand()
double	getSternVerticalThrusterCommand()
double	getThetaCommand()
double	getZCommand()
void	readControls() read uuv controls from an external source, default implementation is to compute them
void	setControls() Sets the vertical thrusters, bow planes and stern planes according to the computed values Overrides the parent class method to effect depth rather than horizontal relevant controls

Methods inherited from class execution.uuv.control.UuvController

adjustPropellersForSteeringIfNoRudders, checkRudderAvailable, computeLateralThrusterCommands, computePropellerCommands, computeRudderCommands, computeVerticalThrusterCommands, getBowLateralThrusterCommand, getCrossTrackError, getPortPropellerCommand, getPsiCommand, getRudderCommand, getSpeedCommand, getStbdPropellerCommand, getSternLateralThrusterCommand, isClosedLoopSpeed, setCommandedSpeed, setPropellersRPM, unsetClosedLoopSpeed, updateCrossTrackError

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

GLIDER_DEPTH_MINIMUM

protected final double GLIDER_DEPTH_MINIMUM

GLIDER DEPTHCONTROL CONSTANTS

See Also:

Constant Field Values

GLIDER_DEPTH_MAXIMUM

protected final double GLIDER_DEPTH_MAXIMUM

See Also:

Constant Field Values

GLIDER_PITCH_MAXIMUM

protected final double GLIDER_PITCH_MAXIMUM

See Also:

Constant Field Values

GLIDER_PITCH_MINIMUM

protected final double GLIDER_PITCH_MINIMUM

See Also:

Constant Field Values

depthControlReset

protected boolean depthControlReset

true if a new depth was specified this loop

altitudeControl

protected boolean altitudeControl

true if depth control is based on altitude above the bottom (as opposed to depth)

openLoopDepth

protected boolean openLoopDepth

true if planes and/or vertical thrusters are being manually controlled

ballastCommand

protected double ballastCommand

ballast command setting

bowPlaneCommand

protected double bowPlaneCommand

commanded bow plane setting

sternPlaneCommand

protected double sternPlaneCommand

commanded stern plane setting

Constructor Detail

DepthController

public DepthController(UuvExecution execution)

Creates a new instance of DepthController

Parameters:

execution - UuvExecution reference to main class of AUV

Method Detail

setControls

public void setControls()

Sets the vertical thrusters, bow planes and stern planes according to the computed values Overrides the parent class method to effect depth rather than horizontal relevant controls

Overrides:

setControls in class UuvController

readControls

public void readControls()

Description copied from class: UuvController

read uuv controls from an external source, default implementation is to compute them

Overrides:

readControls in class UuvController

computeControls

public void computeControls()

Computes plane and vertical thruster control settings for depth control

Specified by:

computeControls in class UuvController

computePlanes

protected void computePlanes()

Computes settings for bow and stern planes

getBowPlaneCommand

public double getBowPlaneCommand()

Returns:

Returns the bowPlaneCommand.

getBowVerticalThrusterCommand

public double getBowVerticalThrusterCommand()

Returns:

Returns the bowVerticalThrusterCommand.

getSternPlaneCommand

public double getSternPlaneCommand()

Returns:

Returns the sternPlaneCommand.

getSternVerticalThrusterCommand

public double getSternVerticalThrusterCommand()

Returns:

Returns the sternVerticalThrusterCommand.

getThetaCommand

public double getThetaCommand()

Overrides:

getThetaCommand in class UuvController

Returns:

Returns the thetaCommand.

getZCommand

public double getZCommand()

Returns:

Returns the zCommand.

computeBallast

protected void computeBallast()

getBallastCommand

public double getBallastCommand()

getGpsFix

public void getGpsFix()

Requires the vehicle to surface and obtain a GPS fix Surfaces vehicle for 30 seconds plus a 3 seconds per meter surface rate